debug: Julia nightly Hermitian constructor with Bool vectors (fro…

…m`I(n)`)

src/estimator/kalman.jl

@@ -287,8 +287,8 @@ struct KalmanFilter{NT<:Real, SM<:LinModel} <: StateEstimator{NT}
  validate_kfcov(nym, nx̂, Q̂, R̂, P̂_0)
  lastu0 = zeros(NT, nu)
  x̂0 = [zeros(NT, model.nx); zeros(NT, nxs)]
- Q̂, R̂ = Hermitian(Q̂, :L), Hermitian(R̂, :L)
- P̂_0 = Hermitian(P̂_0, :L)
+ P̂_0  = Hermitian(NT.(P̂_0), :L)
+ Q̂, R̂ = Hermitian(NT.(Q̂), :L), Hermitian(NT.(R̂), :L)
  P̂ = copy(P̂_0)
  K̂, M̂ = zeros(NT, nx̂, nym), zeros(NT, nx̂, nym)
  corrected = [false]
@@ -478,8 +478,8 @@ struct UnscentedKalmanFilter{NT<:Real, SM<:SimModel} <: StateEstimator{NT}
  nσ, γ, m̂, Ŝ = init_ukf(model, nx̂, α, β, κ)
  lastu0 = zeros(NT, nu)
  x̂0 = [zeros(NT, model.nx); zeros(NT, nxs)]
- Q̂, R̂ = Hermitian(Q̂, :L), Hermitian(R̂, :L)
- P̂_0 = Hermitian(P̂_0, :L)
+ P̂_0  = Hermitian(NT.(P̂_0), :L)
+ Q̂, R̂ = Hermitian(NT.(Q̂), :L), Hermitian(NT.(R̂), :L)
  P̂ = copy(P̂_0)
  K̂ = zeros(NT, nx̂, nym)
  M̂ = Hermitian(zeros(NT, nym, nym), :L)
@@ -797,9 +797,8 @@ struct ExtendedKalmanFilter{NT<:Real, SM<:SimModel} <: StateEstimator{NT}
  validate_kfcov(nym, nx̂, Q̂, R̂, P̂_0)
  lastu0 = zeros(NT, nu)
  x̂0 = [zeros(NT, model.nx); zeros(NT, nxs)]
- P̂_0 = Hermitian(P̂_0, :L)
- Q̂ = Hermitian(Q̂, :L)
- R̂ = Hermitian(R̂, :L)
+ P̂_0 = Hermitian(NT.(P̂_0), :L)
+ Q̂, R̂ = Hermitian(NT.(Q̂), :L), Hermitian(NT.(R̂), :L)
  P̂ = copy(P̂_0)
  K̂, M̂ = zeros(NT, nx̂, nym), zeros(NT, nx̂, nym)
  F̂_û, Ĥ = zeros(NT, nx̂+nu, nx̂), zeros(NT, ny, nx̂)

src/estimator/mhe/construct.jl

@@ -120,8 +120,8 @@ struct MovingHorizonEstimator{
  validate_kfcov(nym, nx̂, Q̂, R̂, P̂_0)
  lastu0 = zeros(NT, nu)
  x̂0 = [zeros(NT, model.nx); zeros(NT, nxs)]
- P̂_0 = Hermitian(P̂_0, :L)
- Q̂, R̂ = Hermitian(Q̂, :L), Hermitian(R̂, :L)
+ P̂_0  = Hermitian(NT.(P̂_0), :L)
+ Q̂, R̂ = Hermitian(NT.(Q̂), :L), Hermitian(NT.(R̂), :L)
  invP̄ = Hermitian(inv(P̂_0), :L)
  invQ̂_He = Hermitian(repeatdiag(inv(Q̂), He), :L)
  invR̂_He = Hermitian(repeatdiag(inv(R̂), He), :L)